Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.
Closes #2 Closes #42 Closes #59 PiperOrigin-RevId: 416794598 Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
This commit is contained in:
Saran Tunyasuvunakool
Executable → Regular
+103
-103
@@ -15,137 +15,137 @@
|
||||
#ifndef MUJOCO_MJRENDER_H_
|
||||
#define MUJOCO_MJRENDER_H_
|
||||
|
||||
#define mjNAUX 10 // number of auxiliary buffers
|
||||
#define mjMAXTEXTURE 1000 // maximum number of textures
|
||||
#include "mjmodel.h"
|
||||
|
||||
#define mjNAUX 10 // number of auxiliary buffers
|
||||
#define mjMAXTEXTURE 1000 // maximum number of textures
|
||||
|
||||
|
||||
typedef enum _mjtGridPos // grid position for overlay
|
||||
{
|
||||
mjGRID_TOPLEFT = 0, // top left
|
||||
mjGRID_TOPRIGHT, // top right
|
||||
mjGRID_BOTTOMLEFT, // bottom left
|
||||
mjGRID_BOTTOMRIGHT // bottom right
|
||||
//---------------------------------- primitive types (mjt) -----------------------------------------
|
||||
|
||||
typedef enum mjtGridPos_ { // grid position for overlay
|
||||
mjGRID_TOPLEFT = 0, // top left
|
||||
mjGRID_TOPRIGHT, // top right
|
||||
mjGRID_BOTTOMLEFT, // bottom left
|
||||
mjGRID_BOTTOMRIGHT // bottom right
|
||||
} mjtGridPos;
|
||||
|
||||
|
||||
typedef enum _mjtFramebuffer // OpenGL framebuffer option
|
||||
{
|
||||
mjFB_WINDOW = 0, // default/window buffer
|
||||
mjFB_OFFSCREEN // offscreen buffer
|
||||
typedef enum mjtFramebuffer_ { // OpenGL framebuffer option
|
||||
mjFB_WINDOW = 0, // default/window buffer
|
||||
mjFB_OFFSCREEN // offscreen buffer
|
||||
} mjtFramebuffer;
|
||||
|
||||
|
||||
typedef enum _mjtFontScale // font scale, used at context creation
|
||||
{
|
||||
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
|
||||
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
|
||||
mjFONTSCALE_150 = 150, // 150% scale
|
||||
mjFONTSCALE_200 = 200, // 200% scale
|
||||
mjFONTSCALE_250 = 250, // 250% scale
|
||||
mjFONTSCALE_300 = 300 // 300% scale
|
||||
typedef enum mjtFontScale_ { // font scale, used at context creation
|
||||
mjFONTSCALE_50 = 50, // 50% scale, suitable for low-res rendering
|
||||
mjFONTSCALE_100 = 100, // normal scale, suitable in the absence of DPI scaling
|
||||
mjFONTSCALE_150 = 150, // 150% scale
|
||||
mjFONTSCALE_200 = 200, // 200% scale
|
||||
mjFONTSCALE_250 = 250, // 250% scale
|
||||
mjFONTSCALE_300 = 300 // 300% scale
|
||||
} mjtFontScale;
|
||||
|
||||
|
||||
typedef enum _mjtFont // font type, used at each text operation
|
||||
{
|
||||
mjFONT_NORMAL = 0, // normal font
|
||||
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
|
||||
mjFONT_BIG // big font (for user alerts)
|
||||
typedef enum mjtFont_ { // font type, used at each text operation
|
||||
mjFONT_NORMAL = 0, // normal font
|
||||
mjFONT_SHADOW, // normal font with shadow (for higher contrast)
|
||||
mjFONT_BIG // big font (for user alerts)
|
||||
} mjtFont;
|
||||
|
||||
|
||||
struct _mjrRect // OpenGL rectangle
|
||||
{
|
||||
int left; // left (usually 0)
|
||||
int bottom; // bottom (usually 0)
|
||||
int width; // width (usually buffer width)
|
||||
int height; // height (usually buffer height)
|
||||
struct mjrRect_ { // OpenGL rectangle
|
||||
int left; // left (usually 0)
|
||||
int bottom; // bottom (usually 0)
|
||||
int width; // width (usually buffer width)
|
||||
int height; // height (usually buffer height)
|
||||
};
|
||||
typedef struct _mjrRect mjrRect;
|
||||
typedef struct mjrRect_ mjrRect;
|
||||
|
||||
|
||||
struct _mjrContext // custom OpenGL context
|
||||
{
|
||||
// parameters copied from mjVisual
|
||||
float lineWidth; // line width for wireframe rendering
|
||||
float shadowClip; // clipping radius for directional lights
|
||||
float shadowScale; // fraction of light cutoff for spot lights
|
||||
float fogStart; // fog start = stat.extent * vis.map.fogstart
|
||||
float fogEnd; // fog end = stat.extent * vis.map.fogend
|
||||
float fogRGBA[4]; // fog rgba
|
||||
int shadowSize; // size of shadow map texture
|
||||
int offWidth; // width of offscreen buffer
|
||||
int offHeight; // height of offscreen buffer
|
||||
int offSamples; // number of offscreen buffer multisamples
|
||||
//---------------------------------- mjrContext ----------------------------------------------------
|
||||
|
||||
// parameters specified at creation
|
||||
int fontScale; // font scale
|
||||
int auxWidth[mjNAUX]; // auxiliary buffer width
|
||||
int auxHeight[mjNAUX]; // auxiliary buffer height
|
||||
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
|
||||
struct mjrContext_ { // custom OpenGL context
|
||||
// parameters copied from mjVisual
|
||||
float lineWidth; // line width for wireframe rendering
|
||||
float shadowClip; // clipping radius for directional lights
|
||||
float shadowScale; // fraction of light cutoff for spot lights
|
||||
float fogStart; // fog start = stat.extent * vis.map.fogstart
|
||||
float fogEnd; // fog end = stat.extent * vis.map.fogend
|
||||
float fogRGBA[4]; // fog rgba
|
||||
int shadowSize; // size of shadow map texture
|
||||
int offWidth; // width of offscreen buffer
|
||||
int offHeight; // height of offscreen buffer
|
||||
int offSamples; // number of offscreen buffer multisamples
|
||||
|
||||
// offscreen rendering objects
|
||||
unsigned int offFBO; // offscreen framebuffer object
|
||||
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
|
||||
unsigned int offColor; // offscreen color buffer
|
||||
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
|
||||
unsigned int offDepthStencil; // offscreen depth and stencil buffer
|
||||
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
|
||||
// parameters specified at creation
|
||||
int fontScale; // font scale
|
||||
int auxWidth[mjNAUX]; // auxiliary buffer width
|
||||
int auxHeight[mjNAUX]; // auxiliary buffer height
|
||||
int auxSamples[mjNAUX]; // auxiliary buffer multisamples
|
||||
|
||||
// shadow rendering objects
|
||||
unsigned int shadowFBO; // shadow map framebuffer object
|
||||
unsigned int shadowTex; // shadow map texture
|
||||
// offscreen rendering objects
|
||||
unsigned int offFBO; // offscreen framebuffer object
|
||||
unsigned int offFBO_r; // offscreen framebuffer for resolving multisamples
|
||||
unsigned int offColor; // offscreen color buffer
|
||||
unsigned int offColor_r; // offscreen color buffer for resolving multisamples
|
||||
unsigned int offDepthStencil; // offscreen depth and stencil buffer
|
||||
unsigned int offDepthStencil_r; // offscreen depth and stencil buffer for resolving multisamples
|
||||
|
||||
// auxiliary buffers
|
||||
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
|
||||
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
|
||||
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
|
||||
unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
|
||||
// shadow rendering objects
|
||||
unsigned int shadowFBO; // shadow map framebuffer object
|
||||
unsigned int shadowTex; // shadow map texture
|
||||
|
||||
// texture objects and info
|
||||
int ntexture; // number of allocated textures
|
||||
int textureType[100]; // type of texture (mjtTexture)
|
||||
unsigned int texture[100]; // texture names
|
||||
// auxiliary buffers
|
||||
unsigned int auxFBO[mjNAUX]; // auxiliary framebuffer object
|
||||
unsigned int auxFBO_r[mjNAUX]; // auxiliary framebuffer object for resolving
|
||||
unsigned int auxColor[mjNAUX]; // auxiliary color buffer
|
||||
unsigned int auxColor_r[mjNAUX];// auxiliary color buffer for resolving
|
||||
|
||||
// displaylist starting positions
|
||||
unsigned int basePlane; // all planes from model
|
||||
unsigned int baseMesh; // all meshes from model
|
||||
unsigned int baseHField; // all hfields from model
|
||||
unsigned int baseBuiltin; // all buildin geoms, with quality from model
|
||||
unsigned int baseFontNormal; // normal font
|
||||
unsigned int baseFontShadow; // shadow font
|
||||
unsigned int baseFontBig; // big font
|
||||
// texture objects and info
|
||||
int ntexture; // number of allocated textures
|
||||
int textureType[100]; // type of texture (mjtTexture)
|
||||
unsigned int texture[100]; // texture names
|
||||
|
||||
// displaylist ranges
|
||||
int rangePlane; // all planes from model
|
||||
int rangeMesh; // all meshes from model
|
||||
int rangeHField; // all hfields from model
|
||||
int rangeBuiltin; // all builtin geoms, with quality from model
|
||||
int rangeFont; // all characters in font
|
||||
// displaylist starting positions
|
||||
unsigned int basePlane; // all planes from model
|
||||
unsigned int baseMesh; // all meshes from model
|
||||
unsigned int baseHField; // all hfields from model
|
||||
unsigned int baseBuiltin; // all buildin geoms, with quality from model
|
||||
unsigned int baseFontNormal; // normal font
|
||||
unsigned int baseFontShadow; // shadow font
|
||||
unsigned int baseFontBig; // big font
|
||||
|
||||
// skin VBOs
|
||||
int nskin; // number of skins
|
||||
unsigned int* skinvertVBO; // skin vertex position VBOs
|
||||
unsigned int* skinnormalVBO; // skin vertex normal VBOs
|
||||
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs
|
||||
unsigned int* skinfaceVBO; // skin face index VBOs
|
||||
// displaylist ranges
|
||||
int rangePlane; // all planes from model
|
||||
int rangeMesh; // all meshes from model
|
||||
int rangeHField; // all hfields from model
|
||||
int rangeBuiltin; // all builtin geoms, with quality from model
|
||||
int rangeFont; // all characters in font
|
||||
|
||||
// character info
|
||||
int charWidth[127]; // character widths: normal and shadow
|
||||
int charWidthBig[127]; // chacarter widths: big
|
||||
int charHeight; // character heights: normal and shadow
|
||||
int charHeightBig; // character heights: big
|
||||
// skin VBOs
|
||||
int nskin; // number of skins
|
||||
unsigned int* skinvertVBO; // skin vertex position VBOs
|
||||
unsigned int* skinnormalVBO; // skin vertex normal VBOs
|
||||
unsigned int* skintexcoordVBO; // skin vertex texture coordinate VBOs
|
||||
unsigned int* skinfaceVBO; // skin face index VBOs
|
||||
|
||||
// capabilities
|
||||
int glewInitialized; // is glew initialized
|
||||
int windowAvailable; // is default/window framebuffer available
|
||||
int windowSamples; // number of samples for default/window framebuffer
|
||||
int windowStereo; // is stereo available for default/window framebuffer
|
||||
int windowDoublebuffer; // is default/window framebuffer double buffered
|
||||
// character info
|
||||
int charWidth[127]; // character widths: normal and shadow
|
||||
int charWidthBig[127]; // chacarter widths: big
|
||||
int charHeight; // character heights: normal and shadow
|
||||
int charHeightBig; // character heights: big
|
||||
|
||||
// framebuffer
|
||||
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
|
||||
// capabilities
|
||||
int glewInitialized; // is glew initialized
|
||||
int windowAvailable; // is default/window framebuffer available
|
||||
int windowSamples; // number of samples for default/window framebuffer
|
||||
int windowStereo; // is stereo available for default/window framebuffer
|
||||
int windowDoublebuffer; // is default/window framebuffer double buffered
|
||||
|
||||
// framebuffer
|
||||
int currentBuffer; // currently active framebuffer: mjFB_WINDOW or mjFB_OFFSCREEN
|
||||
};
|
||||
typedef struct _mjrContext mjrContext;
|
||||
typedef struct mjrContext_ mjrContext;
|
||||
|
||||
#endif // MUJOCO_MJRENDER_H_
|
||||
|
||||
Reference in New Issue
Block a user